Rename nodelets_os namesapce to ouster_ros +

Rename nodelets_os.xml to ouster_ros_nodelet.xml +
Wrap all classes with ouster_ros +
always default no_bond +
Fix Dockerfile build
formatting

CMakeLists.txt

@@ -77,15 +77,15 @@ target_link_libraries(ouster_ros PUBLIC ${catkin_LIBRARIES} ouster_build pcl_com
 add_dependencies(ouster_ros ${PROJECT_NAME}_gencpp)
 
 # ==== Executables ====
-add_library(nodelets_os
+add_library(${PROJECT_NAME}_nodelets
   src/os_sensor_nodelet_base.cpp
   src/os_sensor_nodelet.cpp
   src/os_replay_nodelet.cpp
   src/os_cloud_nodelet.cpp
   src/os_image_nodelet.cpp
   src/os_driver_nodelet.cpp)
-target_link_libraries(nodelets_os ouster_ros ${catkin_LIBRARIES})
-add_dependencies(nodelets_os ${PROJECT_NAME}_gencpp)
+target_link_libraries(${PROJECT_NAME}_nodelets ouster_ros ${catkin_LIBRARIES})
+add_dependencies(${PROJECT_NAME}_nodelets ${PROJECT_NAME}_gencpp)
 
 # ==== Test ====
 if(CATKIN_ENABLE_TESTING)
@@ -96,8 +96,8 @@ endif()
 # ==== Install ====
 install(
   TARGETS
-    ouster_ros
-    nodelets_os
+    ${PROJECT_NAME}
+    ${PROJECT_NAME}_nodelets
   ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
   LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
   RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
@@ -111,7 +111,7 @@ install(
 install(
   FILES
     LICENSE
-    nodelets_os.xml
+    ${PROJECT_NAME}_nodelets.xml
   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
 )
 

Dockerfile

@@ -54,11 +54,12 @@ FROM build-env
 SHELL ["/bin/bash", "-c"]
 
 ENV CXXFLAGS="-Werror -Wno-deprecated-declarations"
-RUN /opt/ros/$ROS_DISTRO/env.sh catkin_make         \
-    -DCMAKE_BUILD_TYPE=Release --make-args tests    \
-    && /opt/ros/$ROS_DISTRO/env.sh catkin_make install
+RUN /opt/ros/$ROS_DISTRO/env.sh catkin_make     \
+-DCMAKE_BUILD_TYPE=Release                      \
+&& /opt/ros/$ROS_DISTRO/env.sh catkin_make install
 
-RUN source ./devel/setup.bash && rosrun ouster_ros ouster_ros_test
+RUN /opt/ros/$ROS_DISTRO/env.sh catkin_make --make-args tests \
+&& source ./devel/setup.bash && rosrun ouster_ros ouster_ros_test
 
 # Entrypoint for running Ouster ros:
 #

include/ouster_ros/os_ros.h

@@ -17,8 +17,8 @@
 #include <pcl/point_cloud.h>
 #include <pcl/point_types.h>
 #include <sensor_msgs/Imu.h>
-#include <sensor_msgs/PointCloud2.h>
 #include <sensor_msgs/LaserScan.h>
+#include <sensor_msgs/PointCloud2.h>
 
 #include <chrono>
 #include <string>
@@ -40,13 +40,13 @@ using ns = std::chrono::nanoseconds;
 bool is_legacy_lidar_profile(const sensor::sensor_info& info);
 
 /**
- * Gets the number of point cloud returns that this sensor_info object represents
+ * Gets the number of point cloud returns that this sensor_info object
+ * represents
  * @param[in] info sensor_info
  * @return number of returns
  */
 int get_n_returns(const sensor::sensor_info& info);
 
-
 /**
  * Gets the number beams based on supplied sensor_info
  * @param[in] info sensor_info
@@ -71,9 +71,9 @@ std::string topic_for_return(const std::string& topic_base, int return_idx);
  * @return ROS sensor message with fields populated from the packet
  */
 sensor_msgs::Imu packet_to_imu_msg(const ouster::sensor::packet_format& pf,
-                                        const ros::Time& timestamp,
-                                        const std::string& frame,
-                                        const uint8_t* buf);
+                                   const ros::Time& timestamp,
+                                   const std::string& frame,
+                                   const uint8_t* buf);
 
 /**
  * Parse an imu packet message into a ROS imu message
@@ -84,9 +84,9 @@ sensor_msgs::Imu packet_to_imu_msg(const ouster::sensor::packet_format& pf,
  * @return ROS sensor message with fields populated from the packet
  */
 sensor_msgs::Imu packet_to_imu_msg(const PacketMsg& pm,
-                                        const ros::Time& timestamp,
-                                        const std::string& frame,
-                                        const sensor::packet_format& pf);
+                                   const ros::Time& timestamp,
+                                   const std::string& frame,
+                                   const sensor::packet_format& pf);
 
 /**
  * Populate a PCL point cloud from a LidarScan.
@@ -132,8 +132,8 @@ void scan_to_cloud_f(ouster::PointsF& points,
  * @return a ROS message containing the point cloud
  */
 sensor_msgs::PointCloud2 cloud_to_cloud_msg(const Cloud& cloud,
-                                                 const ros::Time& timestamp,
-                                                 const std::string& frame);
+                                            const ros::Time& timestamp,
+                                            const std::string& frame);
 
 /**
  * Convert transformation matrix return by sensor to ROS transform
@@ -148,7 +148,6 @@ geometry_msgs::TransformStamped transform_to_tf_msg(
     const ouster::mat4d& mat, const std::string& frame,
     const std::string& child_frame, ros::Time timestamp);
 
-
 /**
  * Convert transformation matrix return by sensor to ROS transform
  * @param[in] ls lidar scan object
@@ -159,12 +158,9 @@ geometry_msgs::TransformStamped transform_to_tf_msg(
  * @return ROS message suitable for publishing as a LaserScan
  */
 sensor_msgs::LaserScan lidar_scan_to_laser_scan_msg(
-    const ouster::LidarScan& ls,
-    const ros::Time& timestamp,
-    const std::string &frame,
-    const ouster::sensor::lidar_mode lidar_mode,
-    const uint16_t ring,
-    const int return_index);
+    const ouster::LidarScan& ls, const ros::Time& timestamp,
+    const std::string& frame, const ouster::sensor::lidar_mode lidar_mode,
+    const uint16_t ring, const int return_index);
 
 namespace impl {
 sensor::ChanField suitable_return(sensor::ChanField input_field, bool second);
@@ -191,6 +187,6 @@ inline ouster::img_t<T> get_or_fill_zero(sensor::ChanField field,
 
 ros::Time ts_to_ros_time(uint64_t ts);
 
-} // namespace impl
+}  // namespace impl
 
 }  // namespace ouster_ros

include/ouster_ros/os_sensor_nodelet_base.h

@@ -12,7 +12,7 @@
 
 #include <ouster/types.h>
 
-namespace nodelets_os {
+namespace ouster_ros {
 
 class OusterSensorNodeletBase : public nodelet::Nodelet {
    protected:
@@ -40,4 +40,4 @@ class OusterSensorNodeletBase : public nodelet::Nodelet {
     ros::Publisher metadata_pub;
 };
 
-}  // namespace nodelets_os
+}  // namespace ouster_ros

launch/common.launch

@@ -34,7 +34,7 @@
   <group ns="$(arg ouster_ns)">
     <node pkg="nodelet" type="nodelet" name="os_cloud_node"
       output="screen" required="true"
-      args="load nodelets_os/OusterCloud os_nodelet_mgr $(arg _no_bond)">
+      args="load ouster_ros/OusterCloud os_nodelet_mgr $(arg _no_bond)">
       <param name="~/tf_prefix" type="str" value="$(arg tf_prefix)"/>
       <param name="~/sensor_frame" value="$(arg sensor_frame)"/>
       <param name="~/lidar_frame" value="$(arg lidar_frame)"/>
@@ -53,7 +53,7 @@
   <group ns="$(arg ouster_ns)">
     <node pkg="nodelet" type="nodelet" name="img_node"
       output="screen" required="true"
-      args="load nodelets_os/OusterImage os_nodelet_mgr $(arg _no_bond)">
+      args="load ouster_ros/OusterImage os_nodelet_mgr $(arg _no_bond)">
     </node>
   </group>
 

launch/driver.launch

@@ -36,15 +36,15 @@
     doc="sets name of choice for the os_lidar tf frame, value can not be empty"/>
   <arg name="imu_frame" default="os_imu"
     doc="sets name of choice for the os_imu tf frame, value can not be empty"/>
-  <arg name="point_cloud_frame" default=""
+  <arg name="point_cloud_frame" default=" "
     doc="which frame to be used when publishing PointCloud2 or LaserScan messages.
     Choose between the value of sensor_frame or lidar_frame, leaving this value empty
     would set lidar_frame to be the frame used when publishing these messages."/>
 
   <arg name="no_bond" default="false"
     doc="request no bond setup when nodelets are created"/>
   <arg if="$(arg no_bond)" name="_no_bond" value="--no-bond"/>
-  <arg unless="$(arg no_bond)" name="_no_bond" value="" />
+  <arg unless="$(arg no_bond)" name="_no_bond" value=" "/>
 
   <arg name="proc_mask" default="IMG|PCL|IMU|SCAN" doc="
     use any combination of the 4 flags to enable or disable specific processors"/>
@@ -63,7 +63,7 @@
   <group ns="$(arg ouster_ns)">
     <node pkg="nodelet" type="nodelet" name="os_driver"
       output="screen" required="true"
-      args="load nodelets_os/OusterDriver os_nodelet_mgr $(arg _no_bond)">
+      args="load ouster_ros/OusterDriver os_nodelet_mgr $(arg _no_bond)">
       <param name="~/sensor_hostname" type="str" value="$(arg sensor_hostname)"/>
       <param name="~/udp_dest" type="str" value="$(arg udp_dest)"/>
       <param name="~/lidar_port" type="int" value="$(arg lidar_port)"/>

launch/record.launch

@@ -37,7 +37,7 @@
     doc="sets name of choice for the os_lidar tf frame, value can not be empty"/>
   <arg name="imu_frame" default="os_imu"
     doc="sets name of choice for the os_imu tf frame, value can not be empty"/>
-  <arg name="point_cloud_frame" default=""
+  <arg name="point_cloud_frame" default=" "
     doc="which frame to be used when publishing PointCloud2 or LaserScan messages.
     Choose between the value of sensor_frame or lidar_frame, leaving this value empty
     would set lidar_frame to be the frame used when publishing these messages."/>
@@ -67,7 +67,7 @@
     <node pkg="nodelet" type="nodelet" name="os_node"
       output="screen" required="true"
       launch-prefix="bash -c 'sleep 1; $0 $@' "
-      args="load nodelets_os/OusterSensor os_nodelet_mgr">
+      args="load ouster_ros/OusterSensor os_nodelet_mgr">
       <param name="~/sensor_hostname" type="str" value="$(arg sensor_hostname)"/>
       <param name="~/udp_dest" type="str" value="$(arg udp_dest)"/>
       <param name="~/lidar_port" type="int" value="$(arg lidar_port)"/>

launch/replay.launch

@@ -17,7 +17,7 @@
     doc="sets name of choice for the os_lidar tf frame, value can not be empty"/>
   <arg name="imu_frame" default="os_imu"
     doc="sets name of choice for the os_imu tf frame, value can not be empty"/>
-  <arg name="point_cloud_frame" default=""
+  <arg name="point_cloud_frame" default=" "
     doc="which frame to be used when publishing PointCloud2 or LaserScan messages.
     Choose between the value of sensor_frame or lidar_frame, leaving this value empty
     would set lidar_frame to be the frame used when publishing these messages."/>
@@ -49,7 +49,7 @@
     <node if="$(arg _use_metadata_file)" pkg="nodelet" type="nodelet"
       name="os_node" output="screen" required="true"
       launch-prefix="bash -c 'sleep 3; $0 $@' "
-      args="load nodelets_os/OusterReplay os_nodelet_mgr">
+      args="load ouster_ros/OusterReplay os_nodelet_mgr">
       <param name="~/metadata" value="$(arg metadata)"/>
     </node>
   </group>

launch/sensor.launch

@@ -36,15 +36,15 @@
     doc="sets name of choice for the os_lidar tf frame, value can not be empty"/>
   <arg name="imu_frame" default="os_imu"
     doc="sets name of choice for the os_imu tf frame, value can not be empty"/>
-  <arg name="point_cloud_frame" default=""
+  <arg name="point_cloud_frame" default=" "
     doc="which frame to be used when publishing PointCloud2 or LaserScan messages.
     Choose between the value of sensor_frame or lidar_frame, leaving this value empty
     would set lidar_frame to be the frame used when publishing these messages."/>
 
   <arg name="no_bond" default="false"
     doc="request no bond setup when nodelets are created"/>
   <arg if="$(arg no_bond)" name="_no_bond" value="--no-bond"/>
-  <arg unless="$(arg no_bond)" name="_no_bond" value="" />
+  <arg unless="$(arg no_bond)" name="_no_bond" value=" "/>
 
   <arg name="dynamic_transforms_broadcast" default="false"
     doc="static or dynamic transforms broadcast"/>
@@ -70,7 +70,7 @@
   <group ns="$(arg ouster_ns)">
     <node pkg="nodelet" type="nodelet" name="os_node"
       output="screen" required="true"
-      args="load nodelets_os/OusterSensor os_nodelet_mgr $(arg _no_bond)">
+      args="load ouster_ros/OusterSensor os_nodelet_mgr $(arg _no_bond)">
       <param name="~/sensor_hostname" type="str" value="$(arg sensor_hostname)"/>
       <param name="~/udp_dest" type="str" value="$(arg udp_dest)"/>
       <param name="~/lidar_port" type="int" value="$(arg lidar_port)"/>

launch/sensor_mtp.launch

@@ -40,15 +40,15 @@
     doc="sets name of choice for the os_lidar tf frame, value can not be empty"/>
   <arg name="imu_frame" default="os_imu"
     doc="sets name of choice for the os_imu tf frame, value can not be empty"/>
-  <arg name="point_cloud_frame" default=""
+  <arg name="point_cloud_frame" default=" "
     doc="which frame to be used when publishing PointCloud2 or LaserScan messages.
     Choose between the value of sensor_frame or lidar_frame, leaving this value empty
     would set lidar_frame to be the frame used when publishing these messages."/>
 
   <arg name="no_bond" default="false"
     doc="request no bond setup when nodelets are created"/>
   <arg if="$(arg no_bond)" name="_no_bond" value="--no-bond"/>
-  <arg unless="$(arg no_bond)" name="_no_bond" value="" />
+  <arg unless="$(arg no_bond)" name="_no_bond" value=" "/>
 
   <arg name="dynamic_transforms_broadcast" default="false"
     doc="static or dynamic transforms broadcast"/>
@@ -74,7 +74,7 @@
   <group ns="$(arg ouster_ns)">
     <node pkg="nodelet" type="nodelet" name="os_node"
       output="screen" required="true"
-      args="load nodelets_os/OusterSensor os_nodelet_mgr $(arg _no_bond)">
+      args="load ouster_ros/OusterSensor os_nodelet_mgr $(arg _no_bond)">
       <param name="~/sensor_hostname" type="str" value="$(arg sensor_hostname)"/>
       <param name="~/udp_dest" type="str" value="$(arg udp_dest)"/>
       <param name="~/mtp_dest" type="str" value="$(arg mtp_dest)"/>

ouster_ros_nodelets.xml

@@ -0,0 +1,27 @@
+<library path="lib/libouster_ros_nodelets">
+  <class name="ouster_ros/OusterSensor" type="ouster_ros::OusterSensor" base_class_type="nodelet::Nodelet">
+    <description>
+      A nodelet that connects to an Ouster sensor and publish incoming imu and lidar packets to other ros nodes.
+    </description>
+  </class>
+  <class name="ouster_ros/OusterReplay" type="ouster_ros::OusterReplay" base_class_type="nodelet::Nodelet">
+    <description>
+      A nodelet that can load up existing Ouster recordings and replay them.
+    </description>
+  </class>
+  <class name="ouster_ros/OusterCloud" type="ouster_ros::OusterCloud" base_class_type="nodelet::Nodelet">
+    <description>
+      A nodelet that process incoming Ouster lidar packets and publishes a corresponding point cloud.
+    </description>
+  </class>
+  <class name="ouster_ros/OusterImage" type="ouster_ros::OusterImage" base_class_type="nodelet::Nodelet">
+    <description>
+      A nodelet that processes Ouster point clouds and publish them as depth images.
+    </description>
+  </class>
+  <class name="ouster_ros/OusterDriver" type="ouster_ros::OusterDriver" base_class_type="nodelet::Nodelet">
+    <description>
+      A nodelet that combines the capabilities of OusterSensor, OusterCloud and OusterImage into a single nodelet.
+    </description>
+  </class>
+</library>

package.xml

@@ -35,6 +35,6 @@
   <test_depend>gtest</test_depend>
 
   <export>
-    <nodelet plugin="${prefix}/nodelets_os.xml"/>
+    <nodelet plugin="${prefix}/ouster_ros_nodelets.xml"/>
   </export>
 </package>